/*
 * Copyright 2020 Tier IV, Inc. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

/*
 * 
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: cropbox.cpp 
 *
 */
#pragma once

#include <pcl/filters/crop_box.h>

#include "pointcloud_preprocessor/CropBoxFilterConfig.h"
#include "pointcloud_preprocessor/filter.h"

namespace pointcloud_preprocessor
{
class CropBoxFilterNodelet : public pointcloud_preprocessor::Filter
{
protected:
  boost::shared_ptr<dynamic_reconfigure::Server<pointcloud_preprocessor::CropBoxFilterConfig> >
    srv_;
  virtual void filter(
    const PointCloud2::ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output);
  virtual void subscribe();
  virtual void unsubscribe();

  void publishCropBoxPolygon();
  bool child_init(ros::NodeHandle & nh, bool & has_service);
  void config_callback(pointcloud_preprocessor::CropBoxFilterConfig & config, uint32_t level);

private:
  /** \brief The PCL filter implementation used. */
  pcl::CropBox<pcl::PCLPointCloud2> impl_;
  ros::Publisher crop_box_polygon_pub_;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
}  // namespace pointcloud_preprocessor
